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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2407.13176 |
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| _version_ | 1866913439072387072 |
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| author | Ge, Yixiao Zamani, Behzad van Goor, Pieter Trumpf, Jochen Mahony, Robert |
| author_facet | Ge, Yixiao Zamani, Behzad van Goor, Pieter Trumpf, Jochen Mahony, Robert |
| contents | In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up approach where each agent runs an extended Kalman filter (EKF) locally using directional measurements and augments this with relative attitude measurements provided by neighbouring agents. The covariance estimates of the relative attitude measurements are geometrically corrected to compensate for relative attitude between the agent that makes the measurement and the agent that uses the measurement before being fused with the local estimate using the convex combination ellipsoid (CCE) method to avoid data incest. Simulations are undertaken to numerically evaluate the performance of the proposed algorithm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_13176 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Geometric Data Fusion for Collaborative Attitude Estimation Ge, Yixiao Zamani, Behzad van Goor, Pieter Trumpf, Jochen Mahony, Robert Systems and Control In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up approach where each agent runs an extended Kalman filter (EKF) locally using directional measurements and augments this with relative attitude measurements provided by neighbouring agents. The covariance estimates of the relative attitude measurements are geometrically corrected to compensate for relative attitude between the agent that makes the measurement and the agent that uses the measurement before being fused with the local estimate using the convex combination ellipsoid (CCE) method to avoid data incest. Simulations are undertaken to numerically evaluate the performance of the proposed algorithm. |
| title | Geometric Data Fusion for Collaborative Attitude Estimation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2407.13176 |